Adaptive selection of reactive/deliberate planning for a dynamic environment

This paper proposes and evaluates a new real-time reactive planning approach for a dynamic environment. In addition to having the features of conventional real-time reactive planning, which can react in a dynamic environment, our planning can perform deliberate planning appropriately. The proposed planning uses three kinds of agents: behavior agents that control simple behavior, planning agents that make plans to achieve their own goals, and behavior-selection agents that intermediate between behavior agents and planning agents. They coordinate a plan in an emergent way for the planning system as a whole. We confirmed the effectiveness of our planning by means of a simulation. Furthermore, we implemented an active-vision system and used it to verify the real-world efficiency of our planning.     

NEPTUNE: A new expert planning tool for users in a network environment

MARS (mission activities and resources scheduler) is a planning and scheduling tool for both automatic and interactive generation of spacecraft timelines of realistic complexity, which has been extensively tested, e.g. for HERMES, EURECA, or Spacelab mission planning. In its new version it has been extended to include full distributed mission planning capability (as required for the COLUMBUS mission planning scenario) under the ESA contract NEPTUNE (new expert planning tool for users in a network environment). This paper describes the main features of the planning tool MARS in its new NEPTUNE version and sketches its applicability to the distributed mission planning scenario and for other (non-space) domains.     

Formalizing planning knowledge for hierarchical planning

A hierarchical planning system achieves efficiency by planning with the most important conditions first, and considering details later in the planning process. Few attempts have been made to formalize the structure of the planning knowledge for hierarchical planning. For a given domain, there is usually more than one way to define its planning knowledge. Some of the definitions can lead to efficient planning, while others may not. In this paper, we provide a set of restrictions which defines the relationships between a non-primitive action and its set of subactions. When satisfied, these restrictions guarantee improved efficiency for hierarchical planning. One important feature of these restrictions is that they are syntactic and therefore do not depend on the particular structure of any plan. Along with these restrictions, we also provide algorithms for preprocessing the planning knowledge of a hierarchical planner. When used during planning, the preprocessed operator hierarchies can enable a planner to significantly reduce its search space.     

多圆碟形水下滑翔机的双层协调三维路径规划

本文研究了欠驱动圆碟形水下滑翔机集群在海流干扰和水下碍航物影响下的三维路径规划问题. 具体地: 第一, 根据圆碟形水下滑翔机的航行特点, 建立了相应的航行时间模型, 设计了三维路径规划的优化目标; 第二, 提 出了一种基于双层协调的多水下滑翔机三维路径规划结构, 采用基于三维离散空间的全局路径规划和基于人工势 场法的局部路径规划, 避免了滑翔机与碍航物以及不同优先级的滑翔机之间发生碰撞; 第三, 基于双层协调路径规 划结构, 采用基于量子行为的自适应粒子群优化方法完成了时间最优目标下多圆碟形水下滑翔机的三维路径规划. 仿真结果验证了所提多圆碟形水下滑翔机三维路径规划方法的有效性.     

Assembly features in modeling and planning

In recent years, features have been introduced in modeling and planning for manufacturing of parts. Such features combine geometric and functional information. Here it is shown that the feature concept is also useful in assembly modeling and planning. For modeling and planning of both single parts and assemblies, an integrated object-oriented product model is introduced. For specific assembly-related information, assembly features are used. Handling features contain information for handling components, connection features information on connections between components. A prototype modeling environment has been developed. The product model has been successfully verified within several analyses and planning modules, in particular stability analyses, grip planning, motion planning and assembly sequence planning. Altogether, feature-based product models for assembly can considerably help in both assembly modeling and planning, on the one hand by integrating single-part and assembly modeling, and on the other hand by integrating modeling and planning.     

采掘机器人的规划级控制技术研究

本文以反铲作业为对象,研究了采掘机器人的任务规划、路径规划和轨迹规划.在自行设 计研制的一台试验样机上实现了整个作业循环过程、预设路径和力监控挖掘过程的局部自主 式规划级控制,并开发了一个三维动态仿真软件作为检验规划级控制理论的辅助手段.     

仿人机器人足迹规划建模及算法实现

足迹规划是仿人机器人运动规划领域的一个新思想.本文建立了仿人机器人足迹规划的模型,并通过构建启发式成本函数,利用A*算法予以实现.针对复杂多障碍物环境,特别提出了基于可变落地足迹数量的复合足迹转换模型的方法.仿真实验证明了规划模型和算法的有效性和完备性,规划效果达到仿人机器人在线运动规划的要求.同时,数值实验也证明了在复杂多障碍物环境下复合足迹转换模型的必要性和优越性.     

Systems Planning in Business-to-Business Electronic Commerce Environments

Past research demonstrates that inter-organisational systems' (IOS) planning lacks appropriate methodological guidelines, and it tends to be practised in an insular manner. To understand IOS planning better, this paper examines the planning and implementation undertaken in three business-to-business electronic commerce networks. Analysis reveals that systems planning processes are heavily influenced by the planning environments within which they take place. Based on these environments, recommendations for IOS planning guidelines are developed. These relate to the planning process, planning roles, the incorporation of business strategy, changes in organisational activity, as well as systems and technology planning.     

城乡规划档案信息数据的一体化管理

实现城乡规划档案信息数据的一体化管理,必须建设城乡规划信息管理四个系统和城乡规划档案信息数据一体化建库。建立城乡规划档案信息中心和建设城乡规划档案信息共享机制,最大限度地发挥档案信息作为战略资源的作用。     

On the complexity of case-based planning

This paper analyses the computational complexity of problems related to case-based planning: planning when a plan for a similar instance is known, and planning from a library of plans. It is proven that planning from a single case has the same complexity than generative planning (i.e. planning ‘from scratch’); using an extended definition of cases, complexity is reduced if the domain stored in the case is similar to the one to search plans for. Planning from a library of cases is shown to have the same complexity. In both cases, the complexity of planning remains, in the worst case, PSPACE-complete.     

CAPP系统中交互智能感知技术研究

针对在CAPP系统中,如何提高人机交互的智能性等问题,建立基于模板机制的工艺定制方法,并综合应用上下文感知、智能搜索等技术,实现工艺知识的智能感知,为工艺人员编辑工艺卡片,制定工艺路线及方法等提供切实有效的指导和帮助,大大提高工艺规划的交互能力和效率.     

面向平层多房间的内墙作业移动机器人路径规划

本文针对多房间的移动机器人内墙作业的路径规划任务,提出一种两阶段路径规划方法.第1阶段针对沿墙作业过程中环境存在灰尘或雾气造成的传感器失效问题,以及房间多出口时路径规划不完整问题,我们提出起点自动选择沿墙路径规划方法,基于栅格地图离线生成沿墙规划路径.第2阶段,针对点到点路径规划过程中的动态避障问题,我们提出一种基于PSAC (prioritized experience replay soft actor critic)算法的点到点路径规划方法,在软行动者-评论家(soft actor critic, SAC)的中引入优先级经验回放策略,实现机器人的动态避障.实验部分设计了沿墙路径规划对比实验和动态避障的对比实验,验证本文所提出的方法在室内沿墙路径规划和点到点路径规划的有效性.     

Characteristics and organizational constraints of collaborative planning

Inter-departmental co-ordination is considered an important factor for the success of a company. Individuals predominantly plan according to the goals of their own department. In cooperative relationships, however, they also try to create possibilities for the optimization of the planning for the other individual. This paper analyzes the influence of organizational structures on inter-departmental collaborative demand planning. Psychological planning theories were applied to deduce typical collaborative planning requirements. This permitted an evaluation of the quality of inter-departmental planning processes. The following characteristics were identified: communication of anticipated events, knowledge of reference field characteristics, goal agreements, negotiation of alternatives, recognition of planning adequacy, monitoring and error diagnosis, co-ordination of opportunistic planning and finally common reflection and decision process for plan cancellation. For a field study three companies with different demand planning structures were selected. Using the critical incident technique, individuals were asked to describe events in which helping or hindering activities in the intra- and interdepartmental context occurred. These events were analyzed with respect to the derived characteristics of collaborative planning. The results indicated the usefulness of the chosen characteristics for describing crucial aspects of (un)successful collaborative planning. There was tentative evidence also that team-oriented structures including representatives of various departments are more suitable for the management of a high amount of planning uncertainty than department-oriented structures. Furthermore, relationships between organizational design, quality of collaborative planning, logistical performance and satisfaction with inter-departmental communication could be demonstrated.     

不确定层次任务网络规划研究综述

层次任务网络(Hierarchical task network, HTN)规划作为一项重要的智能规划技术被广泛应用于实际规划问题中, 传统的HTN规划无法处理不确定规划问题.然而, 现实世界不可避免地存在无法确定或无法预测的信息, 这使许多学者开始关注不确定规划问题, 不确定HTN规划研究也成为HTN规划研究的前沿.本文从HTN规划过程出发分析了不确定HTN规划问题中涉及的三类不确定, 即状态不确定、动作效果不确定和任务分解不确定; 总结了系统状态、动作效果和任务分解等不确定需要扩展确定性HTN规划模型的工作, 以此对现有不确定HTN规划的研究工作加以梳理和归类; 最后,对不确定HTN规划研究中仍需要解决的问题和未来的研究方向作了进一步展望.     

Finding the difference: Measuring spatial perception of planning phases of high-rise urban developments in Virtual Reality

Planning is a process in which the contents of planning is gradually refined. However, research in planning communication and perception is often conducted using contrasting scenarios, e.g. by comparing a with/without case. It is not surprising that drastic differences in planning content and representation result in significant differences in perception. Instead, and as a reflection of sequential and gradually evolving projects in planning practice, we are focusing on two planning phases with only subtle differences (2015 and 2018) for a new high-rise development district in Guangzhou. We introduce 3D gaze-tracking and spatial perception experiments to investigate how participants respond to virtual representations of the two planning phases. The results provide implications for planning and design practice and suggest more substantial roles for the general public in participatory planning processes.     

移动机器人路径规划技术的研究现状与展望

从基于事例、基于环境模型和基于行为三个方面全面而系统地综述了移动机器人路径规划技术的研究现状，对于当前普遍采用的路径规划方法及其实际应用情况进行了较为详细的介绍和分析；同时分别探讨了反应式规划和慎思规划、全局规划和局部规划、传统方法和新的智能方法之间的结合状况，并借此得出了有关路径规划技术的一些新的发展趋势；总结了该领域有待进一步研究的相关问题。     

移动机器人路径规划算法综述

路径规划算法是实现移动机器人自主导航的关键技术。针对移动机器人路径规划技术进行研究,分析各算法的实现机制与原理,并系统性的总结了主流路径规划算法研究现状。根据移动机器人路径规划算法的特点,将路径规划算法分为：传统规划算法、智能规划算法、基于采样的规划算法。基于以上分类,分述近年来的主要研究成果,重点分析各类算法的优缺点。针对移动机器人路径规划算法研究现状,对其未来研究方向进行展望,为移动机器人路径规划大发展提供一定的思路。     

一致性规划中互斥常量合成方法研究

为压缩一致性规划的状态空间,并加快一致性规划的求解速度,将常量引入到一致性规划中,定义一致性规划中的常量,形成新的知识表示"多值一致性规划任务",定义多值一致性规划动作模型,提出一致性规划常量合成方法,给出一致性规划常量合成算法.该方法利用常量的特性在所有初始世界状态和所有实例动作中猜测、验证常量.理论分析和实验结果表明该算法能合成正确的一致性规划常量,生成多值一致性规划任务.为说明一致性规划常量的应用效果,把生成的多值一致性规划任务与规划解重用启发式结合求一致性规划解,并与规划系统CFF进行对比实验.实验结果表明求解质量和效率较高.     

基于MapGis数据中心插件式矿产规划系统的设计

在MapGis数据中心的基础上,结合矿产规划业务流程和相关规范标准,研究设计并实现一个插件式矿产规划信息系统,实现对矿产规划数据的有效管理和充分应用,提供数据库维护、规划成果管理和规划实施等功能,大大提高了矿产规划管理工作的科学性、有效性以及高效性。     

基于MapGis数据中心插件式矿产规划系统的设计

在MapGis数据中心的基础上,结合矿产规划业务流程和相关规范标准,研究设计并实现一个插件式矿产规划信息系统,实现对矿产规划数据的有效管理和充分应用,提供数据库维护、规划成果管理和规划实施等功能,大大提高了矿产规划管理工作的科学性、有效性以及高效性。